fixed some compile issue for Mac Dynamica plugin, see
http://code.google.com/p/bullet/issues/detail?id=221 added some missing file for autotools/Makefile.am fix: btBulletWorldImporter::loadFileFromMemory always returned false, if it was succesful
This commit is contained in:
erwin.coumans
@@ -1,6 +1,6 @@
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#MayaPlugin Makefile
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MAYA_LOCATION?=/Applications/Autodesk/maya2008/devkit
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MAYA_LOCATION?=/Applications/Autodesk/maya2009/devkit
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## MAYA_LOCATION is the Maya installation directory. It should be already defined in your
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# environment variables. If not, please change it to the appropriate directory
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@@ -30,16 +30,22 @@ CPPFLAGS = -DMAC_PLUGIN -DOSMac_MachO_ -DBits32_ -m32 -DUNIX -D_BOOL -DOSMac_ -D
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LDFLAGS = -ldl -shared
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BULLET_INCLUDE=-I$(BULLET)/src -I.
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BULLET_LIB=-L$(BULLET)/out/macosxx86/optimize/libs -L$(BULLET)/src \
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-lBulletColladaConverter -lcolladadom -llibxml -lGIMPACTUtils -lbulletdynamics \
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-lGIMPACTUtils -lbulletdynamics \
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-lbulletcollision -lbulletmath
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#BULLET_LIB=-L$(BULLET)/src/.libs \
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# -lbulletdynamics \
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# -lbulletcollision -lbulletmath
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GL_LIB=-framework OpenGL
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MAYA_INCLUDE=-I$(MAYA)/include
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MAYA_LIB=-L/Applications/Autodesk/maya2008/Maya.app/Contents/MacOS -lOpenMaya -lFoundation -Wl,-executable_path,/Applications/Autodesk/maya2008/Maya.app/Contents/MacOS -lOpenMayaUI -lOpenMayaFX -lOpenMaya -lFoundation
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MAYA_LIB=-L/Applications/Autodesk/maya2009/Maya.app/Contents/MacOS -lOpenMaya -lFoundation -Wl,-executable_path,/Applications/Autodesk/maya2009/Maya.app/Contents/MacOS -lOpenMayaUI -lOpenMayaFX -lOpenMaya -lFoundation
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SOURCES = pluginMain.cpp colladaExport.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp \
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SOURCES = pluginMain.cpp bulletExport.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp \
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solver.cpp bt_solver.cpp dSolverNode.cpp dSolverCmd.cpp dRigidBodyCmd.cpp dRigidBodyArrayCmd.cpp \
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pdbIO.cpp drawUtils.cpp constraint/dHingeConstraintCmd.cpp constraint/dSliderConstraintCmd.cpp \
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constraint/hingeConstraintNode.cpp constraint/sixdofConstraintNode.cpp constraint/dNailConstraintCmd.cpp \
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@@ -18,9 +18,9 @@ not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Herbert Law <Herbert.Law@gmail.com>
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Modified by Roman Ponomarev <rponom@gmail.com>
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01/22/2010 : Constraints reworked
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Modified by Roman Ponomarev <rponom@gmail.com>
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01/22/2010 : Constraints reworked
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*/
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//hingeConstraintNode.cpp
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@@ -42,8 +42,8 @@ Modified by Roman Ponomarev <rponom@gmail.com>
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#include "mayaUtils.h"
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#include "solver.h"
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#include "dSolverNode.h"
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#include "constraint/bt_hinge_constraint.h"
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#include "dSolverNode.h"
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#include "constraint/bt_hinge_constraint.h"
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MTypeId hingeConstraintNode::typeId(0x10033B);
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MString hingeConstraintNode::typeName("dHingeConstraint");
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@@ -341,7 +341,8 @@ void hingeConstraintNode::draw( M3dView & view, const MDagPath &path,
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rigid_bodyB->get_transform(pos, rot);
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m_constraint->worldToA(pos, posB);
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}
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m_constraint->worldFromB(vec3f(0.f, 0.f, 0.f), pos);
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vec3f zeroVec(0.f,0.f,0.f);
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m_constraint->worldFromB(zeroVec, pos);
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m_constraint->worldToA(pos, pivB);
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}
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@@ -369,22 +370,30 @@ void hingeConstraintNode::draw( M3dView & view, const MDagPath &path,
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glVertex3f(0.0, 0.0, 1.0);
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vec3f posT, posP, posM;
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vec3f minusXVec(-1.f,0.f,0.f);
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vec3f posXVec(1.f,0.f,0.f);
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vec3f minusYVec (0.f,-1.f,0.f);
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vec3f posYVec (0.f,1.f,0.f);
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vec3f minusZVec (0.f,0.f,-1.f);
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vec3f posZVec (0.f,0.f,1.f);
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m_constraint->worldFromB(vec3f(-1.f, 0.f, 0.f), posT);
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m_constraint->worldFromB(minusXVec, posT);
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m_constraint->worldToA(posT, posM);
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m_constraint->worldFromB(vec3f( 1.f, 0.f, 0.f), posT);
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m_constraint->worldFromB(posXVec, posT);
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m_constraint->worldToA(posT, posP);
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glVertex3f(posM[0], posM[1], posM[2]);
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glVertex3f(posP[0], posP[1], posP[2]);
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m_constraint->worldFromB(vec3f( 0.f, -1.f, 0.f), posT);
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m_constraint->worldFromB(minusYVec, posT);
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m_constraint->worldToA(posT, posM);
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m_constraint->worldFromB(vec3f( 0.f, 1.f, 0.f), posT);
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m_constraint->worldFromB(posYVec, posT);
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m_constraint->worldToA(posT, posP);
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glVertex3f(posM[0], posM[1], posM[2]);
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glVertex3f(posP[0], posP[1], posP[2]);
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m_constraint->worldFromB(vec3f( 0.f, 0.f, -1.f), posT);
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m_constraint->worldFromB(minusZVec, posT);
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m_constraint->worldToA(posT, posM);
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m_constraint->worldFromB(vec3f( 0.f, 0.f, 1.f), posT);
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m_constraint->worldFromB(posZVec, posT);
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m_constraint->worldToA(posT, posP);
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glVertex3f(posM[0], posM[1], posM[2]);
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glVertex3f(posP[0], posP[1], posP[2]);
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@@ -469,13 +478,13 @@ void hingeConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data)
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pivInB[i] = (float)mPivInB[i];
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}
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float3& mRotInA = data.inputValue(ia_rotationInA).asFloat3();
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MEulerRotation meulerA(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
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MQuaternion mquatA = meulerA.asQuaternion();
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quatf rotA((float)mquatA.w, (float)mquatA.x, (float)mquatA.y, (float)mquatA.z);
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MEulerRotation meulerA(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
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MQuaternion mquatA = meulerA.asQuaternion();
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quatf rotA((float)mquatA.w, (float)mquatA.x, (float)mquatA.y, (float)mquatA.z);
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float3& mRotInB = data.inputValue(ia_rotationInB).asFloat3();
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MEulerRotation meulerB(deg2rad(mRotInB[0]), deg2rad(mRotInB[1]), deg2rad(mRotInB[2]));
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MQuaternion mquatB = meulerB.asQuaternion();
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quatf rotB((float)mquatB.w, (float)mquatB.x, (float)mquatB.y, (float)mquatB.z);
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MEulerRotation meulerB(deg2rad(mRotInB[0]), deg2rad(mRotInB[1]), deg2rad(mRotInB[2]));
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MQuaternion mquatB = meulerB.asQuaternion();
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quatf rotB((float)mquatB.w, (float)mquatB.x, (float)mquatB.y, (float)mquatB.z);
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m_constraint = solver_t::create_hinge_constraint(rigid_bodyA, pivInA, rotA, rigid_bodyB, pivInB, rotB);
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constraint = static_cast<constraint_t::pointer>(m_constraint);
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solver_t::add_constraint(constraint);
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@@ -491,9 +500,9 @@ void hingeConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data)
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pivInA[i] = (float)mPivInA[i];
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}
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float3& mRotInA = data.inputValue(ia_rotationInA).asFloat3();
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MEulerRotation meuler(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
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MQuaternion mquat = meuler.asQuaternion();
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quatf rotA((float)mquat.w, (float)mquat.x, (float)mquat.y, (float)mquat.z);
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MEulerRotation meuler(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
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MQuaternion mquat = meuler.asQuaternion();
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quatf rotA((float)mquat.w, (float)mquat.x, (float)mquat.y, (float)mquat.z);
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m_constraint = solver_t::create_hinge_constraint(rigid_bodyA, pivInA, rotA);
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constraint = static_cast<constraint_t::pointer>(m_constraint);
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solver_t::add_constraint(constraint);
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@@ -518,8 +527,8 @@ void hingeConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data
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fnParentTransform.setScale(fixScale);
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MVector mtranslation = fnParentTransform.getTranslation(MSpace::kTransform, &status);
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if(dSolverNode::isStartTime)
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{ // allow to edit pivots
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if(dSolverNode::isStartTime)
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{ // allow to edit pivots
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MPlug plgRigidBodyA(thisObject, ia_rigidBodyA);
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MPlug plgRigidBodyB(thisObject, ia_rigidBodyB);
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MObject update;
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@@ -558,8 +567,8 @@ void hingeConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data
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}
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if(m_constraint)
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{
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MQuaternion mrotation;
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fnParentTransform.getRotation(mrotation, MSpace::kTransform);
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MQuaternion mrotation;
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fnParentTransform.getRotation(mrotation, MSpace::kTransform);
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bool doUpdatePivot = m_constraint->getPivotChanged();
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if(!doUpdatePivot)
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{
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@@ -569,46 +578,46 @@ void hingeConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data
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float deltaPX = worldP[0] - float(mtranslation.x);
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float deltaPY = worldP[1] - float(mtranslation.y);
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float deltaPZ = worldP[2] - float(mtranslation.z);
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float deltaRX = (float)mrotation.x - worldR[1];
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float deltaRY = (float)mrotation.y - worldR[2];
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float deltaRZ = (float)mrotation.z - worldR[3];
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float deltaRW = (float)mrotation.w - worldR[0];
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float deltaSq = deltaPX * deltaPX + deltaPY * deltaPY + deltaPZ * deltaPZ
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+ deltaRX * deltaRX + deltaRY * deltaRY + deltaRZ * deltaRZ + deltaRW * deltaRW;
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float deltaRX = (float)mrotation.x - worldR[1];
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float deltaRY = (float)mrotation.y - worldR[2];
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float deltaRZ = (float)mrotation.z - worldR[3];
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float deltaRW = (float)mrotation.w - worldR[0];
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float deltaSq = deltaPX * deltaPX + deltaPY * deltaPY + deltaPZ * deltaPZ
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+ deltaRX * deltaRX + deltaRY * deltaRY + deltaRZ * deltaRZ + deltaRW * deltaRW;
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doUpdatePivot = (deltaSq > FLT_EPSILON);
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}
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if(doUpdatePivot)
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{
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m_constraint->set_world(vec3f((float) mtranslation[0], (float) mtranslation[1], (float) mtranslation[2]),
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quatf((float)mrotation.w, (float)mrotation.x, (float)mrotation.y, (float)mrotation.z));
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quatf((float)mrotation.w, (float)mrotation.x, (float)mrotation.y, (float)mrotation.z));
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vec3f pivInA, pivInB;
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quatf rotInA, rotInB;
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m_constraint->get_frameA(pivInA, rotInA);
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m_constraint->get_frameB(pivInB, rotInB);
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MDataHandle hPivInA = data.outputValue(ia_pivotInA);
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float3 &ihPivInA = hPivInA.asFloat3();
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MDataHandle hPivInB = data.outputValue(ia_pivotInB);
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float3 &ihPivInB = hPivInB.asFloat3();
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for(int i = 0; i < 3; i++)
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{
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ihPivInA[i] = pivInA[i];
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ihPivInB[i] = pivInB[i];
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}
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MDataHandle hRotInA = data.outputValue(ia_rotationInA);
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float3 &hrotInA = hRotInA.asFloat3();
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MQuaternion mrotA(rotInA[1], rotInA[2], rotInA[3], rotInA[0]);
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MEulerRotation newrotA(mrotA.asEulerRotation());
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hrotInA[0] = rad2deg((float)newrotA.x);
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hrotInA[1] = rad2deg((float)newrotA.y);
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hrotInA[2] = rad2deg((float)newrotA.z);
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MDataHandle hRotInB = data.outputValue(ia_rotationInB);
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float3 &hrotInB = hRotInB.asFloat3();
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MQuaternion mrotB(rotInB[1], rotInB[2], rotInB[3], rotInB[0]);
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MEulerRotation newrotB(mrotB.asEulerRotation());
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hrotInB[0] = rad2deg((float)newrotB.x);
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hrotInB[1] = rad2deg((float)newrotB.y);
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hrotInB[2] = rad2deg((float)newrotB.z);
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m_constraint->setPivotChanged(false);
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MDataHandle hPivInA = data.outputValue(ia_pivotInA);
|
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float3 &ihPivInA = hPivInA.asFloat3();
|
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MDataHandle hPivInB = data.outputValue(ia_pivotInB);
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||||
float3 &ihPivInB = hPivInB.asFloat3();
|
||||
for(int i = 0; i < 3; i++)
|
||||
{
|
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ihPivInA[i] = pivInA[i];
|
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ihPivInB[i] = pivInB[i];
|
||||
}
|
||||
MDataHandle hRotInA = data.outputValue(ia_rotationInA);
|
||||
float3 &hrotInA = hRotInA.asFloat3();
|
||||
MQuaternion mrotA(rotInA[1], rotInA[2], rotInA[3], rotInA[0]);
|
||||
MEulerRotation newrotA(mrotA.asEulerRotation());
|
||||
hrotInA[0] = rad2deg((float)newrotA.x);
|
||||
hrotInA[1] = rad2deg((float)newrotA.y);
|
||||
hrotInA[2] = rad2deg((float)newrotA.z);
|
||||
MDataHandle hRotInB = data.outputValue(ia_rotationInB);
|
||||
float3 &hrotInB = hRotInB.asFloat3();
|
||||
MQuaternion mrotB(rotInB[1], rotInB[2], rotInB[3], rotInB[0]);
|
||||
MEulerRotation newrotB(mrotB.asEulerRotation());
|
||||
hrotInB[0] = rad2deg((float)newrotB.x);
|
||||
hrotInB[1] = rad2deg((float)newrotB.y);
|
||||
hrotInB[2] = rad2deg((float)newrotB.z);
|
||||
m_constraint->setPivotChanged(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -619,8 +628,8 @@ void hingeConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data
|
||||
vec3f worldP;
|
||||
quatf worldR;
|
||||
m_constraint->get_world(worldP, worldR);
|
||||
fnParentTransform.setTranslation(MVector(worldP[0], worldP[1], worldP[2]), MSpace::kTransform);
|
||||
fnParentTransform.setRotation(MQuaternion(worldR[1], worldR[2], worldR[3], worldR[0]));
|
||||
fnParentTransform.setTranslation(MVector(worldP[0], worldP[1], worldP[2]), MSpace::kTransform);
|
||||
fnParentTransform.setRotation(MQuaternion(worldR[1], worldR[2], worldR[3], worldR[0]));
|
||||
}
|
||||
}
|
||||
data.setClean(plug);
|
||||
|
||||
@@ -18,9 +18,9 @@ not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
Written by: Herbert Law <Herbert.Law@gmail.com>
|
||||
|
||||
Modified by Roman Ponomarev <rponom@gmail.com>
|
||||
01/22/2010 : Constraints reworked
|
||||
|
||||
Modified by Roman Ponomarev <rponom@gmail.com>
|
||||
01/22/2010 : Constraints reworked
|
||||
*/
|
||||
|
||||
//sixdofConstraintNode.cpp
|
||||
@@ -42,8 +42,8 @@ Modified by Roman Ponomarev <rponom@gmail.com>
|
||||
#include "mayaUtils.h"
|
||||
|
||||
#include "solver.h"
|
||||
#include "dSolverNode.h"
|
||||
#include "constraint/bt_sixdof_constraint.h"
|
||||
#include "dSolverNode.h"
|
||||
#include "constraint/bt_sixdof_constraint.h"
|
||||
|
||||
MTypeId sixdofConstraintNode::typeId(0x100384);
|
||||
MString sixdofConstraintNode::typeName("dSixdofConstraint");
|
||||
@@ -274,7 +274,14 @@ void sixdofConstraintNode::draw( M3dView & view, const MDagPath &path,
|
||||
M3dView::DisplayStatus status )
|
||||
{
|
||||
update();
|
||||
|
||||
vec3f zeroVec(0.f,0.f,0.f);
|
||||
vec3f minusXVec(-1.f,0.f,0.f);
|
||||
vec3f posXVec(1.f,0.f,0.f);
|
||||
vec3f minusYVec (0.f,-1.f,0.f);
|
||||
vec3f posYVec (0.f,1.f,0.f);
|
||||
vec3f minusZVec (0.f,0.f,-1.f);
|
||||
vec3f posZVec (0.f,0.f,1.f);
|
||||
|
||||
view.beginGL();
|
||||
glPushAttrib( GL_ALL_ATTRIB_BITS );
|
||||
|
||||
@@ -301,7 +308,7 @@ void sixdofConstraintNode::draw( M3dView & view, const MDagPath &path,
|
||||
rigid_bodyB->get_transform(pos, rot);
|
||||
m_constraint->worldToA(pos, posB);
|
||||
}
|
||||
m_constraint->worldFromB(vec3f(0.f, 0.f, 0.f), pos);
|
||||
m_constraint->worldFromB(zeroVec, pos);
|
||||
m_constraint->worldToA(pos, pivB);
|
||||
}
|
||||
|
||||
@@ -330,21 +337,21 @@ void sixdofConstraintNode::draw( M3dView & view, const MDagPath &path,
|
||||
|
||||
vec3f posT, posP, posM;
|
||||
|
||||
m_constraint->worldFromB(vec3f(-1.f, 0.f, 0.f), posT);
|
||||
m_constraint->worldFromB(minusXVec, posT);
|
||||
m_constraint->worldToA(posT, posM);
|
||||
m_constraint->worldFromB(vec3f( 1.f, 0.f, 0.f), posT);
|
||||
m_constraint->worldFromB(posXVec, posT);
|
||||
m_constraint->worldToA(posT, posP);
|
||||
glVertex3f(posM[0], posM[1], posM[2]);
|
||||
glVertex3f(posP[0], posP[1], posP[2]);
|
||||
m_constraint->worldFromB(vec3f( 0.f, -1.f, 0.f), posT);
|
||||
m_constraint->worldFromB(minusYVec, posT);
|
||||
m_constraint->worldToA(posT, posM);
|
||||
m_constraint->worldFromB(vec3f( 0.f, 1.f, 0.f), posT);
|
||||
m_constraint->worldFromB(posYVec, posT);
|
||||
m_constraint->worldToA(posT, posP);
|
||||
glVertex3f(posM[0], posM[1], posM[2]);
|
||||
glVertex3f(posP[0], posP[1], posP[2]);
|
||||
m_constraint->worldFromB(vec3f( 0.f, 0.f, -1.f), posT);
|
||||
m_constraint->worldFromB(minusZVec, posT);
|
||||
m_constraint->worldToA(posT, posM);
|
||||
m_constraint->worldFromB(vec3f( 0.f, 0.f, 1.f), posT);
|
||||
m_constraint->worldFromB(posZVec, posT);
|
||||
m_constraint->worldToA(posT, posP);
|
||||
glVertex3f(posM[0], posM[1], posM[2]);
|
||||
glVertex3f(posP[0], posP[1], posP[2]);
|
||||
@@ -430,13 +437,13 @@ void sixdofConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data
|
||||
pivInB[i] = (float)mPivInB[i];
|
||||
}
|
||||
float3& mRotInA = data.inputValue(ia_rotationInA).asFloat3();
|
||||
MEulerRotation meulerA(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
|
||||
MQuaternion mquatA = meulerA.asQuaternion();
|
||||
quatf rotA((float)mquatA.w, (float)mquatA.x, (float)mquatA.y, (float)mquatA.z);
|
||||
MEulerRotation meulerA(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
|
||||
MQuaternion mquatA = meulerA.asQuaternion();
|
||||
quatf rotA((float)mquatA.w, (float)mquatA.x, (float)mquatA.y, (float)mquatA.z);
|
||||
float3& mRotInB = data.inputValue(ia_rotationInB).asFloat3();
|
||||
MEulerRotation meulerB(deg2rad(mRotInB[0]), deg2rad(mRotInB[1]), deg2rad(mRotInB[2]));
|
||||
MQuaternion mquatB = meulerB.asQuaternion();
|
||||
quatf rotB((float)mquatB.w, (float)mquatB.x, (float)mquatB.y, (float)mquatB.z);
|
||||
MEulerRotation meulerB(deg2rad(mRotInB[0]), deg2rad(mRotInB[1]), deg2rad(mRotInB[2]));
|
||||
MQuaternion mquatB = meulerB.asQuaternion();
|
||||
quatf rotB((float)mquatB.w, (float)mquatB.x, (float)mquatB.y, (float)mquatB.z);
|
||||
m_constraint = solver_t::create_sixdof_constraint(rigid_bodyA, pivInA, rotA, rigid_bodyB, pivInB, rotB);
|
||||
constraint = static_cast<constraint_t::pointer>(m_constraint);
|
||||
solver_t::add_constraint(constraint);
|
||||
@@ -452,9 +459,9 @@ void sixdofConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data
|
||||
pivInA[i] = (float)mPivInA[i];
|
||||
}
|
||||
float3& mRotInA = data.inputValue(ia_rotationInA).asFloat3();
|
||||
MEulerRotation meuler(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
|
||||
MQuaternion mquat = meuler.asQuaternion();
|
||||
quatf rotA((float)mquat.w, (float)mquat.x, (float)mquat.y, (float)mquat.z);
|
||||
MEulerRotation meuler(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
|
||||
MQuaternion mquat = meuler.asQuaternion();
|
||||
quatf rotA((float)mquat.w, (float)mquat.x, (float)mquat.y, (float)mquat.z);
|
||||
m_constraint = solver_t::create_sixdof_constraint(rigid_bodyA, pivInA, rotA);
|
||||
constraint = static_cast<constraint_t::pointer>(m_constraint);
|
||||
solver_t::add_constraint(constraint);
|
||||
@@ -480,8 +487,8 @@ void sixdofConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& dat
|
||||
fnParentTransform.setScale(fixScale);
|
||||
MVector mtranslation = fnParentTransform.getTranslation(MSpace::kTransform, &status);
|
||||
|
||||
if(dSolverNode::isStartTime)
|
||||
{ // allow to edit pivots
|
||||
if(dSolverNode::isStartTime)
|
||||
{ // allow to edit pivots
|
||||
MPlug plgRigidBodyA(thisObject, ia_rigidBodyA);
|
||||
MPlug plgRigidBodyB(thisObject, ia_rigidBodyB);
|
||||
MObject update;
|
||||
@@ -520,8 +527,8 @@ void sixdofConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& dat
|
||||
}
|
||||
if(m_constraint)
|
||||
{
|
||||
MQuaternion mrotation;
|
||||
fnParentTransform.getRotation(mrotation, MSpace::kTransform);
|
||||
MQuaternion mrotation;
|
||||
fnParentTransform.getRotation(mrotation, MSpace::kTransform);
|
||||
bool doUpdatePivot = m_constraint->getPivotChanged();
|
||||
if(!doUpdatePivot)
|
||||
{
|
||||
@@ -531,46 +538,46 @@ void sixdofConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& dat
|
||||
float deltaPX = worldP[0] - float(mtranslation.x);
|
||||
float deltaPY = worldP[1] - float(mtranslation.y);
|
||||
float deltaPZ = worldP[2] - float(mtranslation.z);
|
||||
float deltaRX = (float)mrotation.x - worldR[1];
|
||||
float deltaRY = (float)mrotation.y - worldR[2];
|
||||
float deltaRZ = (float)mrotation.z - worldR[3];
|
||||
float deltaRW = (float)mrotation.w - worldR[0];
|
||||
float deltaSq = deltaPX * deltaPX + deltaPY * deltaPY + deltaPZ * deltaPZ
|
||||
+ deltaRX * deltaRX + deltaRY * deltaRY + deltaRZ * deltaRZ + deltaRW * deltaRW;
|
||||
float deltaRX = (float)mrotation.x - worldR[1];
|
||||
float deltaRY = (float)mrotation.y - worldR[2];
|
||||
float deltaRZ = (float)mrotation.z - worldR[3];
|
||||
float deltaRW = (float)mrotation.w - worldR[0];
|
||||
float deltaSq = deltaPX * deltaPX + deltaPY * deltaPY + deltaPZ * deltaPZ
|
||||
+ deltaRX * deltaRX + deltaRY * deltaRY + deltaRZ * deltaRZ + deltaRW * deltaRW;
|
||||
doUpdatePivot = (deltaSq > FLT_EPSILON);
|
||||
}
|
||||
if(doUpdatePivot)
|
||||
{
|
||||
m_constraint->set_world(vec3f((float) mtranslation[0], (float) mtranslation[1], (float) mtranslation[2]),
|
||||
quatf((float)mrotation.w, (float)mrotation.x, (float)mrotation.y, (float)mrotation.z));
|
||||
quatf((float)mrotation.w, (float)mrotation.x, (float)mrotation.y, (float)mrotation.z));
|
||||
vec3f pivInA, pivInB;
|
||||
quatf rotInA, rotInB;
|
||||
m_constraint->get_frameA(pivInA, rotInA);
|
||||
m_constraint->get_frameB(pivInB, rotInB);
|
||||
MDataHandle hPivInA = data.outputValue(ia_pivotInA);
|
||||
float3 &ihPivInA = hPivInA.asFloat3();
|
||||
MDataHandle hPivInB = data.outputValue(ia_pivotInB);
|
||||
float3 &ihPivInB = hPivInB.asFloat3();
|
||||
for(int i = 0; i < 3; i++)
|
||||
{
|
||||
ihPivInA[i] = pivInA[i];
|
||||
ihPivInB[i] = pivInB[i];
|
||||
}
|
||||
MDataHandle hRotInA = data.outputValue(ia_rotationInA);
|
||||
float3 &hrotInA = hRotInA.asFloat3();
|
||||
MQuaternion mrotA(rotInA[1], rotInA[2], rotInA[3], rotInA[0]);
|
||||
MEulerRotation newrotA(mrotA.asEulerRotation());
|
||||
hrotInA[0] = rad2deg((float)newrotA.x);
|
||||
hrotInA[1] = rad2deg((float)newrotA.y);
|
||||
hrotInA[2] = rad2deg((float)newrotA.z);
|
||||
MDataHandle hRotInB = data.outputValue(ia_rotationInB);
|
||||
float3 &hrotInB = hRotInB.asFloat3();
|
||||
MQuaternion mrotB(rotInB[1], rotInB[2], rotInB[3], rotInB[0]);
|
||||
MEulerRotation newrotB(mrotB.asEulerRotation());
|
||||
hrotInB[0] = rad2deg((float)newrotB.x);
|
||||
hrotInB[1] = rad2deg((float)newrotB.y);
|
||||
hrotInB[2] = rad2deg((float)newrotB.z);
|
||||
m_constraint->setPivotChanged(false);
|
||||
MDataHandle hPivInA = data.outputValue(ia_pivotInA);
|
||||
float3 &ihPivInA = hPivInA.asFloat3();
|
||||
MDataHandle hPivInB = data.outputValue(ia_pivotInB);
|
||||
float3 &ihPivInB = hPivInB.asFloat3();
|
||||
for(int i = 0; i < 3; i++)
|
||||
{
|
||||
ihPivInA[i] = pivInA[i];
|
||||
ihPivInB[i] = pivInB[i];
|
||||
}
|
||||
MDataHandle hRotInA = data.outputValue(ia_rotationInA);
|
||||
float3 &hrotInA = hRotInA.asFloat3();
|
||||
MQuaternion mrotA(rotInA[1], rotInA[2], rotInA[3], rotInA[0]);
|
||||
MEulerRotation newrotA(mrotA.asEulerRotation());
|
||||
hrotInA[0] = rad2deg((float)newrotA.x);
|
||||
hrotInA[1] = rad2deg((float)newrotA.y);
|
||||
hrotInA[2] = rad2deg((float)newrotA.z);
|
||||
MDataHandle hRotInB = data.outputValue(ia_rotationInB);
|
||||
float3 &hrotInB = hRotInB.asFloat3();
|
||||
MQuaternion mrotB(rotInB[1], rotInB[2], rotInB[3], rotInB[0]);
|
||||
MEulerRotation newrotB(mrotB.asEulerRotation());
|
||||
hrotInB[0] = rad2deg((float)newrotB.x);
|
||||
hrotInB[1] = rad2deg((float)newrotB.y);
|
||||
hrotInB[2] = rad2deg((float)newrotB.z);
|
||||
m_constraint->setPivotChanged(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -581,8 +588,8 @@ void sixdofConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& dat
|
||||
vec3f worldP;
|
||||
quatf worldR;
|
||||
m_constraint->get_world(worldP, worldR);
|
||||
fnParentTransform.setTranslation(MVector(worldP[0], worldP[1], worldP[2]), MSpace::kTransform);
|
||||
fnParentTransform.setRotation(MQuaternion(worldR[1], worldR[2], worldR[3], worldR[0]));
|
||||
fnParentTransform.setTranslation(MVector(worldP[0], worldP[1], worldP[2]), MSpace::kTransform);
|
||||
fnParentTransform.setRotation(MQuaternion(worldR[1], worldR[2], worldR[3], worldR[0]));
|
||||
}
|
||||
}
|
||||
data.setClean(plug);
|
||||
|
||||
@@ -18,9 +18,9 @@ not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
Written by: Herbert Law <Herbert.Law@gmail.com>
|
||||
|
||||
Modified by Roman Ponomarev <rponom@gmail.com>
|
||||
01/22/2010 : Constraints reworked
|
||||
|
||||
Modified by Roman Ponomarev <rponom@gmail.com>
|
||||
01/22/2010 : Constraints reworked
|
||||
*/
|
||||
|
||||
//sliderConstraintNode.cpp
|
||||
@@ -42,8 +42,8 @@ Modified by Roman Ponomarev <rponom@gmail.com>
|
||||
#include "mayaUtils.h"
|
||||
|
||||
#include "solver.h"
|
||||
#include "dSolverNode.h"
|
||||
#include "constraint/bt_slider_constraint.h"
|
||||
#include "dSolverNode.h"
|
||||
#include "constraint/bt_slider_constraint.h"
|
||||
|
||||
MTypeId sliderConstraintNode::typeId(0x100385);
|
||||
MString sliderConstraintNode::typeName("dSliderConstraint");
|
||||
@@ -270,6 +270,13 @@ void sliderConstraintNode::draw( M3dView & view, const MDagPath &path,
|
||||
M3dView::DisplayStatus status )
|
||||
{
|
||||
update();
|
||||
vec3f zeroVec(0.f,0.f,0.f);
|
||||
vec3f minusXVec(-1.f,0.f,0.f);
|
||||
vec3f posXVec(1.f,0.f,0.f);
|
||||
vec3f minusYVec (0.f,-1.f,0.f);
|
||||
vec3f posYVec (0.f,1.f,0.f);
|
||||
vec3f minusZVec (0.f,0.f,-1.f);
|
||||
vec3f posZVec (0.f,0.f,1.f);
|
||||
|
||||
view.beginGL();
|
||||
glPushAttrib( GL_ALL_ATTRIB_BITS );
|
||||
@@ -297,7 +304,7 @@ void sliderConstraintNode::draw( M3dView & view, const MDagPath &path,
|
||||
rigid_bodyB->get_transform(pos, rot);
|
||||
m_constraint->worldToA(pos, posB);
|
||||
}
|
||||
m_constraint->worldFromB(vec3f(0.f, 0.f, 0.f), pos);
|
||||
m_constraint->worldFromB(zeroVec, pos);
|
||||
m_constraint->worldToA(pos, pivB);
|
||||
}
|
||||
|
||||
@@ -326,21 +333,21 @@ void sliderConstraintNode::draw( M3dView & view, const MDagPath &path,
|
||||
|
||||
vec3f posT, posP, posM;
|
||||
|
||||
m_constraint->worldFromB(vec3f(-1.f, 0.f, 0.f), posT);
|
||||
m_constraint->worldFromB(minusXVec, posT);
|
||||
m_constraint->worldToA(posT, posM);
|
||||
m_constraint->worldFromB(vec3f( 1.f, 0.f, 0.f), posT);
|
||||
m_constraint->worldFromB(posXVec, posT);
|
||||
m_constraint->worldToA(posT, posP);
|
||||
glVertex3f(posM[0], posM[1], posM[2]);
|
||||
glVertex3f(posP[0], posP[1], posP[2]);
|
||||
m_constraint->worldFromB(vec3f( 0.f, -1.f, 0.f), posT);
|
||||
m_constraint->worldFromB(minusYVec, posT);
|
||||
m_constraint->worldToA(posT, posM);
|
||||
m_constraint->worldFromB(vec3f( 0.f, 1.f, 0.f), posT);
|
||||
m_constraint->worldFromB(posYVec, posT);
|
||||
m_constraint->worldToA(posT, posP);
|
||||
glVertex3f(posM[0], posM[1], posM[2]);
|
||||
glVertex3f(posP[0], posP[1], posP[2]);
|
||||
m_constraint->worldFromB(vec3f( 0.f, 0.f, -1.f), posT);
|
||||
m_constraint->worldFromB(minusZVec, posT);
|
||||
m_constraint->worldToA(posT, posM);
|
||||
m_constraint->worldFromB(vec3f( 0.f, 0.f, 1.f), posT);
|
||||
m_constraint->worldFromB(posZVec, posT);
|
||||
m_constraint->worldToA(posT, posP);
|
||||
glVertex3f(posM[0], posM[1], posM[2]);
|
||||
glVertex3f(posP[0], posP[1], posP[2]);
|
||||
@@ -426,13 +433,13 @@ void sliderConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data
|
||||
pivInB[i] = (float)mPivInB[i];
|
||||
}
|
||||
float3& mRotInA = data.inputValue(ia_rotationInA).asFloat3();
|
||||
MEulerRotation meulerA(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
|
||||
MQuaternion mquatA = meulerA.asQuaternion();
|
||||
quatf rotA((float)mquatA.w, (float)mquatA.x, (float)mquatA.y, (float)mquatA.z);
|
||||
MEulerRotation meulerA(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
|
||||
MQuaternion mquatA = meulerA.asQuaternion();
|
||||
quatf rotA((float)mquatA.w, (float)mquatA.x, (float)mquatA.y, (float)mquatA.z);
|
||||
float3& mRotInB = data.inputValue(ia_rotationInB).asFloat3();
|
||||
MEulerRotation meulerB(deg2rad(mRotInB[0]), deg2rad(mRotInB[1]), deg2rad(mRotInB[2]));
|
||||
MQuaternion mquatB = meulerB.asQuaternion();
|
||||
quatf rotB((float)mquatB.w, (float)mquatB.x, (float)mquatB.y, (float)mquatB.z);
|
||||
MEulerRotation meulerB(deg2rad(mRotInB[0]), deg2rad(mRotInB[1]), deg2rad(mRotInB[2]));
|
||||
MQuaternion mquatB = meulerB.asQuaternion();
|
||||
quatf rotB((float)mquatB.w, (float)mquatB.x, (float)mquatB.y, (float)mquatB.z);
|
||||
m_constraint = solver_t::create_slider_constraint(rigid_bodyA, pivInA, rotA, rigid_bodyB, pivInB, rotB);
|
||||
constraint = static_cast<constraint_t::pointer>(m_constraint);
|
||||
solver_t::add_constraint(constraint);
|
||||
@@ -448,9 +455,9 @@ void sliderConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data
|
||||
pivInA[i] = (float)mPivInA[i];
|
||||
}
|
||||
float3& mRotInA = data.inputValue(ia_rotationInA).asFloat3();
|
||||
MEulerRotation meuler(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
|
||||
MQuaternion mquat = meuler.asQuaternion();
|
||||
quatf rotA((float)mquat.w, (float)mquat.x, (float)mquat.y, (float)mquat.z);
|
||||
MEulerRotation meuler(deg2rad(mRotInA[0]), deg2rad(mRotInA[1]), deg2rad(mRotInA[2]));
|
||||
MQuaternion mquat = meuler.asQuaternion();
|
||||
quatf rotA((float)mquat.w, (float)mquat.x, (float)mquat.y, (float)mquat.z);
|
||||
m_constraint = solver_t::create_slider_constraint(rigid_bodyA, pivInA, rotA);
|
||||
constraint = static_cast<constraint_t::pointer>(m_constraint);
|
||||
solver_t::add_constraint(constraint);
|
||||
@@ -475,8 +482,8 @@ void sliderConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& dat
|
||||
fnParentTransform.setScale(fixScale);
|
||||
MVector mtranslation = fnParentTransform.getTranslation(MSpace::kTransform, &status);
|
||||
|
||||
if(dSolverNode::isStartTime)
|
||||
{ // allow to edit pivots
|
||||
if(dSolverNode::isStartTime)
|
||||
{ // allow to edit pivots
|
||||
MPlug plgRigidBodyA(thisObject, ia_rigidBodyA);
|
||||
MPlug plgRigidBodyB(thisObject, ia_rigidBodyB);
|
||||
MObject update;
|
||||
@@ -515,8 +522,8 @@ void sliderConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& dat
|
||||
}
|
||||
if(m_constraint)
|
||||
{
|
||||
MQuaternion mrotation;
|
||||
fnParentTransform.getRotation(mrotation, MSpace::kTransform);
|
||||
MQuaternion mrotation;
|
||||
fnParentTransform.getRotation(mrotation, MSpace::kTransform);
|
||||
bool doUpdatePivot = m_constraint->getPivotChanged();
|
||||
if(!doUpdatePivot)
|
||||
{
|
||||
@@ -526,46 +533,46 @@ void sliderConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& dat
|
||||
float deltaPX = worldP[0] - float(mtranslation.x);
|
||||
float deltaPY = worldP[1] - float(mtranslation.y);
|
||||
float deltaPZ = worldP[2] - float(mtranslation.z);
|
||||
float deltaRX = (float)mrotation.x - worldR[1];
|
||||
float deltaRY = (float)mrotation.y - worldR[2];
|
||||
float deltaRZ = (float)mrotation.z - worldR[3];
|
||||
float deltaRW = (float)mrotation.w - worldR[0];
|
||||
float deltaSq = deltaPX * deltaPX + deltaPY * deltaPY + deltaPZ * deltaPZ
|
||||
+ deltaRX * deltaRX + deltaRY * deltaRY + deltaRZ * deltaRZ + deltaRW * deltaRW;
|
||||
float deltaRX = (float)mrotation.x - worldR[1];
|
||||
float deltaRY = (float)mrotation.y - worldR[2];
|
||||
float deltaRZ = (float)mrotation.z - worldR[3];
|
||||
float deltaRW = (float)mrotation.w - worldR[0];
|
||||
float deltaSq = deltaPX * deltaPX + deltaPY * deltaPY + deltaPZ * deltaPZ
|
||||
+ deltaRX * deltaRX + deltaRY * deltaRY + deltaRZ * deltaRZ + deltaRW * deltaRW;
|
||||
doUpdatePivot = (deltaSq > FLT_EPSILON);
|
||||
}
|
||||
if(doUpdatePivot)
|
||||
{
|
||||
m_constraint->set_world(vec3f((float) mtranslation[0], (float) mtranslation[1], (float) mtranslation[2]),
|
||||
quatf((float)mrotation.w, (float)mrotation.x, (float)mrotation.y, (float)mrotation.z));
|
||||
quatf((float)mrotation.w, (float)mrotation.x, (float)mrotation.y, (float)mrotation.z));
|
||||
vec3f pivInA, pivInB;
|
||||
quatf rotInA, rotInB;
|
||||
m_constraint->get_frameA(pivInA, rotInA);
|
||||
m_constraint->get_frameB(pivInB, rotInB);
|
||||
MDataHandle hPivInA = data.outputValue(ia_pivotInA);
|
||||
float3 &ihPivInA = hPivInA.asFloat3();
|
||||
MDataHandle hPivInB = data.outputValue(ia_pivotInB);
|
||||
float3 &ihPivInB = hPivInB.asFloat3();
|
||||
for(int i = 0; i < 3; i++)
|
||||
{
|
||||
ihPivInA[i] = pivInA[i];
|
||||
ihPivInB[i] = pivInB[i];
|
||||
}
|
||||
MDataHandle hRotInA = data.outputValue(ia_rotationInA);
|
||||
float3 &hrotInA = hRotInA.asFloat3();
|
||||
MQuaternion mrotA(rotInA[1], rotInA[2], rotInA[3], rotInA[0]);
|
||||
MEulerRotation newrotA(mrotA.asEulerRotation());
|
||||
hrotInA[0] = rad2deg((float)newrotA.x);
|
||||
hrotInA[1] = rad2deg((float)newrotA.y);
|
||||
hrotInA[2] = rad2deg((float)newrotA.z);
|
||||
MDataHandle hRotInB = data.outputValue(ia_rotationInB);
|
||||
float3 &hrotInB = hRotInB.asFloat3();
|
||||
MQuaternion mrotB(rotInB[1], rotInB[2], rotInB[3], rotInB[0]);
|
||||
MEulerRotation newrotB(mrotB.asEulerRotation());
|
||||
hrotInB[0] = rad2deg((float)newrotB.x);
|
||||
hrotInB[1] = rad2deg((float)newrotB.y);
|
||||
hrotInB[2] = rad2deg((float)newrotB.z);
|
||||
m_constraint->setPivotChanged(false);
|
||||
MDataHandle hPivInA = data.outputValue(ia_pivotInA);
|
||||
float3 &ihPivInA = hPivInA.asFloat3();
|
||||
MDataHandle hPivInB = data.outputValue(ia_pivotInB);
|
||||
float3 &ihPivInB = hPivInB.asFloat3();
|
||||
for(int i = 0; i < 3; i++)
|
||||
{
|
||||
ihPivInA[i] = pivInA[i];
|
||||
ihPivInB[i] = pivInB[i];
|
||||
}
|
||||
MDataHandle hRotInA = data.outputValue(ia_rotationInA);
|
||||
float3 &hrotInA = hRotInA.asFloat3();
|
||||
MQuaternion mrotA(rotInA[1], rotInA[2], rotInA[3], rotInA[0]);
|
||||
MEulerRotation newrotA(mrotA.asEulerRotation());
|
||||
hrotInA[0] = rad2deg((float)newrotA.x);
|
||||
hrotInA[1] = rad2deg((float)newrotA.y);
|
||||
hrotInA[2] = rad2deg((float)newrotA.z);
|
||||
MDataHandle hRotInB = data.outputValue(ia_rotationInB);
|
||||
float3 &hrotInB = hRotInB.asFloat3();
|
||||
MQuaternion mrotB(rotInB[1], rotInB[2], rotInB[3], rotInB[0]);
|
||||
MEulerRotation newrotB(mrotB.asEulerRotation());
|
||||
hrotInB[0] = rad2deg((float)newrotB.x);
|
||||
hrotInB[1] = rad2deg((float)newrotB.y);
|
||||
hrotInB[2] = rad2deg((float)newrotB.z);
|
||||
m_constraint->setPivotChanged(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -576,8 +583,8 @@ void sliderConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& dat
|
||||
vec3f worldP;
|
||||
quatf worldR;
|
||||
m_constraint->get_world(worldP, worldR);
|
||||
fnParentTransform.setTranslation(MVector(worldP[0], worldP[1], worldP[2]), MSpace::kTransform);
|
||||
fnParentTransform.setRotation(MQuaternion(worldR[1], worldR[2], worldR[3], worldR[0]));
|
||||
fnParentTransform.setTranslation(MVector(worldP[0], worldP[1], worldP[2]), MSpace::kTransform);
|
||||
fnParentTransform.setRotation(MQuaternion(worldR[1], worldR[2], worldR[3], worldR[0]));
|
||||
}
|
||||
}
|
||||
data.setClean(plug);
|
||||
|
||||
@@ -614,7 +614,7 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
|
||||
|
||||
}
|
||||
|
||||
return false;
|
||||
return true;
|
||||
}
|
||||
|
||||
btTypedConstraint* btBulletWorldImporter::createUniversalD6Constraint(class btRigidBody* body0,class btRigidBody* otherBody,
|
||||
|
||||
Reference in New Issue
Block a user